org.bytedeco.bullet.BulletDynamics

Class btSequentialImpulseConstraintSolverMt

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.bullet.BulletDynamics.btConstraintSolver

org.bytedeco.bullet.BulletDynamics.btSequentialImpulseConstraintSolver

org.bytedeco.bullet.BulletDynamics.btSequentialImpulseConstraintSolverMt

All Implemented Interfaces:

AutoCloseable

@NoOffset
 @Properties(inherit=BulletDynamics.class)
public class btSequentialImpulseConstraintSolverMt
extends btSequentialImpulseConstraintSolver

btSequentialImpulseConstraintSolverMt A multithreaded variant of the sequential impulse constraint solver. The constraints to be solved are grouped into batches and phases where each batch of constraints within a given phase can be solved in parallel with the rest. Ideally we want as few phases as possible, and each phase should have many batches, and all of the batches should have about the same number of constraints. This method works best on a large island of many constraints. Supports all of the features of the normal sequential impulse solver such as: - split penetration impulse - rolling friction - interleaving constraints - warmstarting - 2 friction directions - randomized constraint ordering - early termination when leastSquaresResidualThreshold is satisfied When the SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS flag is enabled, unlike the normal SequentialImpulse solver, the rolling friction is interleaved as well. Interleaving the contact penetration constraints with friction reduces the number of parallel loops that need to be done, which reduces threading overhead so it can be a performance win, however, it does seem to produce a less stable simulation, at least on stacks of blocks. When the SOLVER_RANDMIZE_ORDER flag is enabled, the ordering of phases, and the ordering of constraints within each batch is randomized, however it does not swap constraints between batches. This is to avoid regenerating the batches for each solver iteration which would be quite costly in performance. Note that a non-zero leastSquaresResidualThreshold could possibly affect the determinism of the simulation if the task scheduler's parallelSum operation is non-deterministic. The parallelSum operation can be non-deterministic because floating point addition is not associative due to rounding errors. The task scheduler can and should ensure that the result of any parallelSum operation is deterministic.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	btSequentialImpulseConstraintSolverMt.btContactManifoldCachedInfo
static class	btSequentialImpulseConstraintSolverMt.JointParams

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator, Pointer.ReferenceCounter

Field Summary

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
btSequentialImpulseConstraintSolverMt()
btSequentialImpulseConstraintSolverMt(long size) Native array allocator.
btSequentialImpulseConstraintSolverMt(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
btSequentialImpulseConstraintSolverMt	getPointer(long i)
void	internalAllocContactConstraints(btSequentialImpulseConstraintSolverMt.btContactManifoldCachedInfo cachedInfoArray, int numManifolds)
void	internalCollectContactManifoldCachedInfo(btSequentialImpulseConstraintSolverMt.btContactManifoldCachedInfo cachedInfoArray, btPersistentManifold manifoldPtr, int numManifolds, btContactSolverInfo infoGlobal)
void	internalCollectContactManifoldCachedInfo(btSequentialImpulseConstraintSolverMt.btContactManifoldCachedInfo cachedInfoArray, PointerPointer manifoldPtr, int numManifolds, btContactSolverInfo infoGlobal)
void	internalConvertBodies(btCollisionObject bodies, int iBegin, int iEnd, btContactSolverInfo infoGlobal)
void	internalConvertBodies(PointerPointer bodies, int iBegin, int iEnd, btContactSolverInfo infoGlobal)
void	internalConvertMultipleJoints(JointParamsArray jointParamsArray, btTypedConstraint constraints, int iBegin, int iEnd, btContactSolverInfo infoGlobal)
void	internalConvertMultipleJoints(JointParamsArray jointParamsArray, PointerPointer constraints, int iBegin, int iEnd, btContactSolverInfo infoGlobal)
void	internalInitMultipleJoints(btTypedConstraint constraints, int iBegin, int iEnd)
void	internalInitMultipleJoints(PointerPointer constraints, int iBegin, int iEnd)
void	internalSetupContactConstraints(int iContactConstraint, btContactSolverInfo infoGlobal)
void	internalWriteBackBodies(int iBegin, int iEnd, btContactSolverInfo infoGlobal)
void	internalWriteBackContacts(int iBegin, int iEnd, btContactSolverInfo infoGlobal)
void	internalWriteBackJoints(int iBegin, int iEnd, btContactSolverInfo infoGlobal)
btSequentialImpulseConstraintSolverMt	position(long position)
double	resolveMultipleContactConstraints(btIntArray consIndices, int batchBegin, int batchEnd)
double	resolveMultipleContactConstraintsInterleaved(btIntArray contactIndices, int batchBegin, int batchEnd)
double	resolveMultipleContactFrictionConstraints(btIntArray consIndices, int batchBegin, int batchEnd)
double	resolveMultipleContactRollingFrictionConstraints(btIntArray consIndices, int batchBegin, int batchEnd)
double	resolveMultipleContactSplitPenetrationImpulseConstraints(btIntArray consIndices, int batchBegin, int batchEnd)
double	resolveMultipleJointConstraints(btIntArray consIndices, int batchBegin, int batchEnd, int iteration)
static boolean	s_allowNestedParallelForLoops()
static void	s_allowNestedParallelForLoops(boolean setter)
static int	s_contactBatchingMethod()
static void	s_contactBatchingMethod(int setter)
static int	s_jointBatchingMethod()
static void	s_jointBatchingMethod(int setter)
static int	s_maxBatchSize()
static void	s_maxBatchSize(int setter)
static int	s_minBatchSize()
static void	s_minBatchSize(int setter)
static int	s_minimumContactManifoldsForBatching()
static void	s_minimumContactManifoldsForBatching(int setter)
double	solveGroupCacheFriendlyFinish(btCollisionObject bodies, int numBodies, btContactSolverInfo infoGlobal)
double	solveGroupCacheFriendlyFinish(PointerPointer bodies, int numBodies, btContactSolverInfo infoGlobal)
double	solveGroupCacheFriendlySetup(btCollisionObject bodies, int numBodies, btPersistentManifold manifoldPtr, int numManifolds, btTypedConstraint constraints, int numConstraints, btContactSolverInfo infoGlobal, btIDebugDraw debugDrawer)
double	solveGroupCacheFriendlySetup(PointerPointer bodies, int numBodies, PointerPointer manifoldPtr, int numManifolds, PointerPointer constraints, int numConstraints, btContactSolverInfo infoGlobal, btIDebugDraw debugDrawer)
void	solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject bodies, int numBodies, btPersistentManifold manifoldPtr, int numManifolds, btTypedConstraint constraints, int numConstraints, btContactSolverInfo infoGlobal, btIDebugDraw debugDrawer)
void	solveGroupCacheFriendlySplitImpulseIterations(PointerPointer bodies, int numBodies, PointerPointer manifoldPtr, int numManifolds, PointerPointer constraints, int numConstraints, btContactSolverInfo infoGlobal, btIDebugDraw debugDrawer)
double	solveSingleIteration(int iteration, btCollisionObject bodies, int numBodies, btPersistentManifold manifoldPtr, int numManifolds, btTypedConstraint constraints, int numConstraints, btContactSolverInfo infoGlobal, btIDebugDraw debugDrawer)
double	solveSingleIteration(int iteration, PointerPointer bodies, int numBodies, PointerPointer manifoldPtr, int numManifolds, PointerPointer constraints, int numConstraints, btContactSolverInfo infoGlobal, btIDebugDraw debugDrawer)

Methods inherited from class org.bytedeco.bullet.BulletDynamics.btSequentialImpulseConstraintSolver

btRand2, btRandInt2, getActiveConstraintRowSolverGeneric, getActiveConstraintRowSolverLowerLimit, getRandSeed, getScalarConstraintRowSolverGeneric, getScalarConstraintRowSolverLowerLimit, getSolverType, m_analyticsData, m_analyticsData, reset, setConstraintRowSolverGeneric, setConstraintRowSolverLowerLimit, setRandSeed, solveGroup, solveGroup

Methods inherited from class org.bytedeco.bullet.BulletDynamics.btConstraintSolver

allSolved, prepareSolve

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, availablePhysicalBytes, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, formatBytes, free, getDirectBufferAddress, getPointer, getPointer, getPointer, hashCode, interruptDeallocatorThread, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, physicalBytesInaccurate, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, sizeof, toString, totalBytes, totalCount, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

btSequentialImpulseConstraintSolverMt

public btSequentialImpulseConstraintSolverMt(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

btSequentialImpulseConstraintSolverMt

public btSequentialImpulseConstraintSolverMt(long size)

Native array allocator. Access with Pointer.position(long).

btSequentialImpulseConstraintSolverMt

public btSequentialImpulseConstraintSolverMt()

Method Detail

position

public btSequentialImpulseConstraintSolverMt position(long position)

Overrides:

position in class btSequentialImpulseConstraintSolver

getPointer

public btSequentialImpulseConstraintSolverMt getPointer(long i)

Overrides:

getPointer in class btSequentialImpulseConstraintSolver

solveGroupCacheFriendlySplitImpulseIterations

public void solveGroupCacheFriendlySplitImpulseIterations(@Cast(value="btCollisionObject**")
                                                          PointerPointer bodies,
                                                          int numBodies,
                                                          @Cast(value="btPersistentManifold**")
                                                          PointerPointer manifoldPtr,
                                                          int numManifolds,
                                                          @Cast(value="btTypedConstraint**")
                                                          PointerPointer constraints,
                                                          int numConstraints,
                                                          @Const @ByRef
                                                          btContactSolverInfo infoGlobal,
                                                          btIDebugDraw debugDrawer)

solveGroupCacheFriendlySplitImpulseIterations

public void solveGroupCacheFriendlySplitImpulseIterations(@ByPtrPtr
                                                          btCollisionObject bodies,
                                                          int numBodies,
                                                          @ByPtrPtr
                                                          btPersistentManifold manifoldPtr,
                                                          int numManifolds,
                                                          @ByPtrPtr
                                                          btTypedConstraint constraints,
                                                          int numConstraints,
                                                          @Const @ByRef
                                                          btContactSolverInfo infoGlobal,
                                                          btIDebugDraw debugDrawer)

solveSingleIteration

@Cast(value="btScalar")
public double solveSingleIteration(int iteration,
                                                           @Cast(value="btCollisionObject**")
                                                           PointerPointer bodies,
                                                           int numBodies,
                                                           @Cast(value="btPersistentManifold**")
                                                           PointerPointer manifoldPtr,
                                                           int numManifolds,
                                                           @Cast(value="btTypedConstraint**")
                                                           PointerPointer constraints,
                                                           int numConstraints,
                                                           @Const @ByRef
                                                           btContactSolverInfo infoGlobal,
                                                           btIDebugDraw debugDrawer)

solveSingleIteration

@Cast(value="btScalar")
public double solveSingleIteration(int iteration,
                                                           @ByPtrPtr
                                                           btCollisionObject bodies,
                                                           int numBodies,
                                                           @ByPtrPtr
                                                           btPersistentManifold manifoldPtr,
                                                           int numManifolds,
                                                           @ByPtrPtr
                                                           btTypedConstraint constraints,
                                                           int numConstraints,
                                                           @Const @ByRef
                                                           btContactSolverInfo infoGlobal,
                                                           btIDebugDraw debugDrawer)

solveGroupCacheFriendlySetup

@Cast(value="btScalar")
public double solveGroupCacheFriendlySetup(@Cast(value="btCollisionObject**")
                                                                   PointerPointer bodies,
                                                                   int numBodies,
                                                                   @Cast(value="btPersistentManifold**")
                                                                   PointerPointer manifoldPtr,
                                                                   int numManifolds,
                                                                   @Cast(value="btTypedConstraint**")
                                                                   PointerPointer constraints,
                                                                   int numConstraints,
                                                                   @Const @ByRef
                                                                   btContactSolverInfo infoGlobal,
                                                                   btIDebugDraw debugDrawer)

solveGroupCacheFriendlySetup

@Cast(value="btScalar")
public double solveGroupCacheFriendlySetup(@ByPtrPtr
                                                                   btCollisionObject bodies,
                                                                   int numBodies,
                                                                   @ByPtrPtr
                                                                   btPersistentManifold manifoldPtr,
                                                                   int numManifolds,
                                                                   @ByPtrPtr
                                                                   btTypedConstraint constraints,
                                                                   int numConstraints,
                                                                   @Const @ByRef
                                                                   btContactSolverInfo infoGlobal,
                                                                   btIDebugDraw debugDrawer)

solveGroupCacheFriendlyFinish

@Cast(value="btScalar")
public double solveGroupCacheFriendlyFinish(@Cast(value="btCollisionObject**")
                                                                    PointerPointer bodies,
                                                                    int numBodies,
                                                                    @Const @ByRef
                                                                    btContactSolverInfo infoGlobal)

solveGroupCacheFriendlyFinish

@Cast(value="btScalar")
public double solveGroupCacheFriendlyFinish(@ByPtrPtr
                                                                    btCollisionObject bodies,
                                                                    int numBodies,
                                                                    @Const @ByRef
                                                                    btContactSolverInfo infoGlobal)

internalInitMultipleJoints

public void internalInitMultipleJoints(@Cast(value="btTypedConstraint**")
                                       PointerPointer constraints,
                                       int iBegin,
                                       int iEnd)

internalInitMultipleJoints

public void internalInitMultipleJoints(@ByPtrPtr
                                       btTypedConstraint constraints,
                                       int iBegin,
                                       int iEnd)

internalConvertMultipleJoints

public void internalConvertMultipleJoints(@Const @ByRef
                                          JointParamsArray jointParamsArray,
                                          @Cast(value="btTypedConstraint**")
                                          PointerPointer constraints,
                                          int iBegin,
                                          int iEnd,
                                          @Const @ByRef
                                          btContactSolverInfo infoGlobal)

internalConvertMultipleJoints

public void internalConvertMultipleJoints(@Const @ByRef
                                          JointParamsArray jointParamsArray,
                                          @ByPtrPtr
                                          btTypedConstraint constraints,
                                          int iBegin,
                                          int iEnd,
                                          @Const @ByRef
                                          btContactSolverInfo infoGlobal)

s_allowNestedParallelForLoops

@Cast(value="bool")
public static boolean s_allowNestedParallelForLoops()

s_allowNestedParallelForLoops

public static void s_allowNestedParallelForLoops(boolean setter)

s_minimumContactManifoldsForBatching

public static int s_minimumContactManifoldsForBatching()

s_minimumContactManifoldsForBatching

public static void s_minimumContactManifoldsForBatching(int setter)

s_contactBatchingMethod

@Cast(value="btBatchedConstraints::BatchingMethod")
public static int s_contactBatchingMethod()

s_contactBatchingMethod

public static void s_contactBatchingMethod(int setter)

s_jointBatchingMethod

@Cast(value="btBatchedConstraints::BatchingMethod")
public static int s_jointBatchingMethod()

s_jointBatchingMethod

public static void s_jointBatchingMethod(int setter)

s_minBatchSize

public static int s_minBatchSize()

s_minBatchSize

public static void s_minBatchSize(int setter)

s_maxBatchSize

public static int s_maxBatchSize()

s_maxBatchSize

public static void s_maxBatchSize(int setter)

resolveMultipleJointConstraints

@Cast(value="btScalar")
public double resolveMultipleJointConstraints(@Const @ByRef
                                                                      btIntArray consIndices,
                                                                      int batchBegin,
                                                                      int batchEnd,
                                                                      int iteration)

resolveMultipleContactConstraints

@Cast(value="btScalar")
public double resolveMultipleContactConstraints(@Const @ByRef
                                                                        btIntArray consIndices,
                                                                        int batchBegin,
                                                                        int batchEnd)

resolveMultipleContactSplitPenetrationImpulseConstraints

@Cast(value="btScalar")
public double resolveMultipleContactSplitPenetrationImpulseConstraints(@Const @ByRef
                                                                                               btIntArray consIndices,
                                                                                               int batchBegin,
                                                                                               int batchEnd)

resolveMultipleContactFrictionConstraints

@Cast(value="btScalar")
public double resolveMultipleContactFrictionConstraints(@Const @ByRef
                                                                                btIntArray consIndices,
                                                                                int batchBegin,
                                                                                int batchEnd)

resolveMultipleContactRollingFrictionConstraints

@Cast(value="btScalar")
public double resolveMultipleContactRollingFrictionConstraints(@Const @ByRef
                                                                                       btIntArray consIndices,
                                                                                       int batchBegin,
                                                                                       int batchEnd)

resolveMultipleContactConstraintsInterleaved

@Cast(value="btScalar")
public double resolveMultipleContactConstraintsInterleaved(@Const @ByRef
                                                                                   btIntArray contactIndices,
                                                                                   int batchBegin,
                                                                                   int batchEnd)

internalCollectContactManifoldCachedInfo

public void internalCollectContactManifoldCachedInfo(btSequentialImpulseConstraintSolverMt.btContactManifoldCachedInfo cachedInfoArray,
                                                     @Cast(value="btPersistentManifold**")
                                                     PointerPointer manifoldPtr,
                                                     int numManifolds,
                                                     @Const @ByRef
                                                     btContactSolverInfo infoGlobal)

internalCollectContactManifoldCachedInfo

public void internalCollectContactManifoldCachedInfo(btSequentialImpulseConstraintSolverMt.btContactManifoldCachedInfo cachedInfoArray,
                                                     @ByPtrPtr
                                                     btPersistentManifold manifoldPtr,
                                                     int numManifolds,
                                                     @Const @ByRef
                                                     btContactSolverInfo infoGlobal)

internalAllocContactConstraints

public void internalAllocContactConstraints(@Const
                                            btSequentialImpulseConstraintSolverMt.btContactManifoldCachedInfo cachedInfoArray,
                                            int numManifolds)

internalSetupContactConstraints

public void internalSetupContactConstraints(int iContactConstraint,
                                            @Const @ByRef
                                            btContactSolverInfo infoGlobal)

internalConvertBodies

public void internalConvertBodies(@Cast(value="btCollisionObject**")
                                  PointerPointer bodies,
                                  int iBegin,
                                  int iEnd,
                                  @Const @ByRef
                                  btContactSolverInfo infoGlobal)

internalConvertBodies

public void internalConvertBodies(@ByPtrPtr
                                  btCollisionObject bodies,
                                  int iBegin,
                                  int iEnd,
                                  @Const @ByRef
                                  btContactSolverInfo infoGlobal)

internalWriteBackContacts

public void internalWriteBackContacts(int iBegin,
                                      int iEnd,
                                      @Const @ByRef
                                      btContactSolverInfo infoGlobal)

internalWriteBackJoints

public void internalWriteBackJoints(int iBegin,
                                    int iEnd,
                                    @Const @ByRef
                                    btContactSolverInfo infoGlobal)

internalWriteBackBodies

public void internalWriteBackBodies(int iBegin,
                                    int iEnd,
                                    @Const @ByRef
                                    btContactSolverInfo infoGlobal)